From 6dfa36f7a5e4534e334fa0ca023daa93bac53d49 Mon Sep 17 00:00:00 2001 From: kzf5356 Date: Fri, 22 Oct 2021 12:40:13 -0400 Subject: [PATCH 1/8] adding submodule structure --- .gitmodules | 6 ++++++ iiwa_ros/lus-rosscripts | 1 + koopman-op | 1 + 3 files changed, 8 insertions(+) create mode 160000 iiwa_ros/lus-rosscripts create mode 160000 koopman-op diff --git a/.gitmodules b/.gitmodules index e69de29..d81d5e3 100644 --- a/.gitmodules +++ b/.gitmodules @@ -0,0 +1,6 @@ +[submodule "koopman-op"] + path = koopman-op + url = git@github.com:psu-hcr/koopman-op.git +[submodule "iiwa_ros/lus-rosscripts"] + path = iiwa_ros/lus-rosscripts + url = git@github.com:psu-hcr/lus-rosscripts.git diff --git a/iiwa_ros/lus-rosscripts b/iiwa_ros/lus-rosscripts new file mode 160000 index 0000000..e18102a --- /dev/null +++ b/iiwa_ros/lus-rosscripts @@ -0,0 +1 @@ +Subproject commit e18102aded66d1424eb6e2fcb7e80337ead6664b diff --git a/koopman-op b/koopman-op new file mode 160000 index 0000000..3e6cd00 --- /dev/null +++ b/koopman-op @@ -0,0 +1 @@ +Subproject commit 3e6cd002ebca82f0621746b93bab03bec7e3ef7f From 0d50abe95a62dcf1e4a4303deb854e3badaad520 Mon Sep 17 00:00:00 2001 From: kzf5356 Date: Fri, 22 Oct 2021 12:42:34 -0400 Subject: [PATCH 2/8] new submod commit --- iiwa_ros/lus-rosscripts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iiwa_ros/lus-rosscripts b/iiwa_ros/lus-rosscripts index e18102a..4a9215c 160000 --- a/iiwa_ros/lus-rosscripts +++ b/iiwa_ros/lus-rosscripts @@ -1 +1 @@ -Subproject commit e18102aded66d1424eb6e2fcb7e80337ead6664b +Subproject commit 4a9215c1243c13013c4bbff7f5c7a93f4cfaa228 From 05f873e5151b441f064ea996cbccea9da011e9d1 Mon Sep 17 00:00:00 2001 From: kzf5356 Date: Thu, 4 Nov 2021 15:16:37 -0400 Subject: [PATCH 3/8] koopman update --- koopman-op | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/koopman-op b/koopman-op index 3e6cd00..e2a6d61 160000 --- a/koopman-op +++ b/koopman-op @@ -1 +1 @@ -Subproject commit 3e6cd002ebca82f0621746b93bab03bec7e3ef7f +Subproject commit e2a6d61a1873247c8bca58fdf2f415867a272db1 From 642422731ded6a2faba4c799b123018982263459 Mon Sep 17 00:00:00 2001 From: Zhiqing Lu Date: Tue, 30 Nov 2021 14:17:53 -0500 Subject: [PATCH 4/8] merge lus-rosscripts --- iiwa_ros/lus-rosscripts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iiwa_ros/lus-rosscripts b/iiwa_ros/lus-rosscripts index 4a9215c..3f293fd 160000 --- a/iiwa_ros/lus-rosscripts +++ b/iiwa_ros/lus-rosscripts @@ -1 +1 @@ -Subproject commit 4a9215c1243c13013c4bbff7f5c7a93f4cfaa228 +Subproject commit 3f293fdc62368755629cb026f0750e74512e151f From e32653bb57739705b2dbe9b99add30e54e443362 Mon Sep 17 00:00:00 2001 From: Ben Date: Fri, 10 Dec 2021 20:47:24 -0500 Subject: [PATCH 5/8] added iiwaros 15 model that has peg end effector --- iiwa_description/launch/iiwa15_upload.launch | 37 ++ .../meshes/iiwa14/collision/PegScaled.stl | Bin 0 -> 126684 bytes .../meshes/iiwa14/visual/PegScaled.stl | Bin 0 -> 126684 bytes iiwa_description/urdf/iiwa14 (copy).xacro | 440 ++++++++++++++++++ iiwa_description/urdf/iiwa14.xacro | 23 +- iiwa_description/urdf/iiwa15.urdf.xacro | 55 +++ iiwa_description/urdf/iiwaPeg15.xacro | 430 +++++++++++++++++ 7 files changed, 984 insertions(+), 1 deletion(-) create mode 100644 iiwa_description/launch/iiwa15_upload.launch create mode 100644 iiwa_description/meshes/iiwa14/collision/PegScaled.stl create mode 100644 iiwa_description/meshes/iiwa14/visual/PegScaled.stl create mode 100644 iiwa_description/urdf/iiwa14 (copy).xacro create mode 100644 iiwa_description/urdf/iiwa15.urdf.xacro create mode 100644 iiwa_description/urdf/iiwaPeg15.xacro diff --git a/iiwa_description/launch/iiwa15_upload.launch b/iiwa_description/launch/iiwa15_upload.launch new file mode 100644 index 0000000..b33c272 --- /dev/null +++ b/iiwa_description/launch/iiwa15_upload.launch @@ -0,0 +1,37 @@ + + + + + + + + + + diff --git a/iiwa_description/meshes/iiwa14/collision/PegScaled.stl 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iiwa_description/urdf/iiwa14.xacro b/iiwa_description/urdf/iiwa14.xacro index b32fe88..dfc00d0 100644 --- a/iiwa_description/urdf/iiwa14.xacro +++ b/iiwa_description/urdf/iiwa14.xacro @@ -386,7 +386,9 @@ - + + + @@ -399,6 +401,25 @@ + + + + + + + + + + + + + + + + + + + diff --git a/iiwa_description/urdf/iiwa15.urdf.xacro b/iiwa_description/urdf/iiwa15.urdf.xacro new file mode 100644 index 0000000..e12965e --- /dev/null +++ b/iiwa_description/urdf/iiwa15.urdf.xacro @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iiwa_description/urdf/iiwaPeg15.xacro b/iiwa_description/urdf/iiwaPeg15.xacro new file mode 100644 index 0000000..bea3da1 --- /dev/null +++ b/iiwa_description/urdf/iiwaPeg15.xacro @@ -0,0 +1,430 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 580aaed0d8eee8976d668c5e79fe40630b4dde2f Mon Sep 17 00:00:00 2001 From: bts5341 Date: Fri, 17 Dec 2021 11:55:56 -0500 Subject: [PATCH 6/8] added model #15 and #16 which contain the peg and brush end effectors --- iiwa_description/launch/iiwa16_upload.launch | 37 ++++++++++++ .../meshes/iiwa14/collision/BrushScaled.stl | Bin 0 -> 155484 bytes .../meshes/iiwa14/visual/BrushScaled.stl | Bin 0 -> 155484 bytes iiwa_description/urdf/iiwa14.xacro | 4 +- iiwa_description/urdf/iiwa15.urdf.xacro | 4 +- .../urdf/{iiwaPeg15.xacro => iiwa15.xacro} | 0 iiwa_description/urdf/iiwa16.urdf.xacro | 55 ++++++++++++++++++ .../{iiwa14 (copy).xacro => iiwa16.xacro} | 43 ++++++-------- 8 files changed, 113 insertions(+), 30 deletions(-) create mode 100644 iiwa_description/launch/iiwa16_upload.launch create mode 100644 iiwa_description/meshes/iiwa14/collision/BrushScaled.stl create mode 100644 iiwa_description/meshes/iiwa14/visual/BrushScaled.stl rename iiwa_description/urdf/{iiwaPeg15.xacro => iiwa15.xacro} (100%) create mode 100644 iiwa_description/urdf/iiwa16.urdf.xacro rename iiwa_description/urdf/{iiwa14 (copy).xacro => iiwa16.xacro} (96%) diff --git a/iiwa_description/launch/iiwa16_upload.launch b/iiwa_description/launch/iiwa16_upload.launch new file mode 100644 index 0000000..73ff789 --- /dev/null +++ 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+48,8 @@ - + - + diff --git a/iiwa_description/urdf/iiwaPeg15.xacro b/iiwa_description/urdf/iiwa15.xacro similarity index 100% rename from iiwa_description/urdf/iiwaPeg15.xacro rename to iiwa_description/urdf/iiwa15.xacro diff --git a/iiwa_description/urdf/iiwa16.urdf.xacro b/iiwa_description/urdf/iiwa16.urdf.xacro new file mode 100644 index 0000000..ff02731 --- /dev/null +++ b/iiwa_description/urdf/iiwa16.urdf.xacro @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iiwa_description/urdf/iiwa14 (copy).xacro b/iiwa_description/urdf/iiwa16.xacro similarity index 96% rename from iiwa_description/urdf/iiwa14 (copy).xacro rename to iiwa_description/urdf/iiwa16.xacro index 5c6d356..2e451b9 100644 --- a/iiwa_description/urdf/iiwa14 (copy).xacro +++ b/iiwa_description/urdf/iiwa16.xacro @@ -386,24 +386,27 @@ - - + + + + - - - + + + - + - - - + + + - + - + + @@ -411,24 +414,12 @@ - + + - - - - - - - - - - - - - - + From c0f6cb7cc249c7d2a807269285465a1670e1520c Mon Sep 17 00:00:00 2001 From: bts5341 Date: Fri, 17 Dec 2021 12:07:50 -0500 Subject: [PATCH 7/8] added model #15 and #16 which contain the peg and brush end effectors --- iiwa_gazebo/launch/iiwa_gazebo.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/iiwa_gazebo/launch/iiwa_gazebo.launch b/iiwa_gazebo/launch/iiwa_gazebo.launch index 1e51de8..4625000 100644 --- a/iiwa_gazebo/launch/iiwa_gazebo.launch +++ b/iiwa_gazebo/launch/iiwa_gazebo.launch @@ -34,6 +34,7 @@ + From 382f05e0ddb4b6b82d0a8a6992887978a055ad12 Mon Sep 17 00:00:00 2001 From: bts5341 Date: Tue, 18 Jan 2022 15:14:49 -0500 Subject: [PATCH 8/8] added update brush end effector model as iiwa 17 --- iiwa_description/launch/iiwa17_upload.launch | 37 ++ .../meshes/iiwa14/collision/Brush2.stl | Bin 0 -> 299584 bytes .../meshes/iiwa14/visual/Brush2.stl | Bin 0 -> 299584 bytes iiwa_description/urdf/iiwa17.urdf.xacro | 55 +++ iiwa_description/urdf/iiwa17.xacro | 431 ++++++++++++++++++ 5 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